version: 66.04
glider: 157
mission: 1
dive: 4
start: 8 15 108 20 37 28
data:
$ID,157
$MISSION,1
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,80
$D_NO_BLEED,80
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51679
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,554.86859
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8662.5947
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,90
$PITCH_MAX,4043
$C_PITCH,1900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,231
$ROLL_MAX,3879
$ROLL_DEG,40
$C_ROLL_DIVE,2385
$C_ROLL_CLIMB,2385
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2747
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.251787
$PRESSURE_SLOPE,0.0001140972
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,103
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004313
$SEABIRD_T_H,0.00063151005
$SEABIRD_T_I,2.4073433e-05
$SEABIRD_T_J,2.5600611e-06
$SEABIRD_C_G,-10.151347
$SEABIRD_C_H,1.1458639
$SEABIRD_C_I,-0.00036424753
$SEABIRD_C_J,0.00012563137
$GPS1,202527,4807.174,-12222.813,7,1.9,7,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-69.5
$GPS2,203651,4807.154,-12222.750,14,1.8,14,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.091,-0.206
$KALMAN_X,62.9,56.5,58.0,28.6,29.3
$KALMAN_Y,-164.0,-144.9,-147.0,227.5,-73.9
$MHEAD_RNG_PITCHd_Wd,137.8,2331,-20.6,-10.000
$D_GRID,107
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.72,-107.5,0.0,0.0,0,108,0.00,0.00,-92.65,0.000,6,0.000,0.000,92,2383,3187
$GC,110,-0.72,-107.5,3.7,-5.2,15,123,6.12,2.28,0.00,0.000,4,0.254,0.067,1659,3802,3188
$GC,372,-0.72,-107.5,18.7,-6.3,74,378,0.00,2.28,0.00,0.000,6,0.000,0.060,1659,2379,3190
$GC,444,-0.72,-107.5,23.8,-7.2,90,450,0.00,2.33,0.00,0.000,4,0.000,0.074,1650,3801,3189
$GC,697,-0.72,-107.5,44.7,-8.9,148,704,0.00,2.22,0.00,0.000,6,0.000,0.060,1650,2394,3190
$GC,834,-0.72,-107.5,55.6,-7.5,179,840,0.00,2.25,0.00,0.000,4,0.000,0.073,1640,3804,3190
$GC,1036,-0.72,-107.5,73.8,-9.5,225,1041,0.00,2.25,0.00,0.000,6,0.000,0.061,1639,2373,3189
$STATE,1048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1048,begin apogee
$GC,1051,-0.14,0.0,75.2,9.6,228,1134,0.68,0.00,79.20,0.696,6,0.173,0.000,1849,2368,2746
$STATE,1134,end apogee,CONTROL_FINISHED_OK
$STATE,1134,begin climb
$GC,1136,0.72,107.5,75.4,0.0,242,1219,0.77,0.00,79.60,0.654,6,0.073,0.000,2137,2368,2308
$GC,1350,0.72,107.5,26.3,27.0,286,1356,0.00,2.28,0.00,0.000,4,0.000,0.063,2148,968,2306
$GC,1374,0.72,107.5,20.1,26.0,291,1380,0.00,2.35,0.00,0.000,6,0.000,0.067,2148,2393,2306
$STATE,1445,end climb,SURFACE_DEPTH_REACHED
$STATE,1445,begin surface coast
$FINISH,1.5,1.018324
$STATE,1457,end surface coast,CONTROL_FINISHED_OK
$STATE,1457,begin surface
$SM_CCo,1469,340.70,0.614,0,0,484,554.87
$SM_GC,0.44,0.00,0.00,340.70,0.000,0.000,0.614,91,2397,484,-5.65,0.34,554.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.047554
$HUMID,2042
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,3
$24V_AH,24.4,0.676
$10V_AH,10.7,0.255
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,13.425,18.225,158.800,340.700,0.000,353.228,0.000,0.000,0.750,0.000,0.000,17.016,0.000,689.551,541.912,825.974,435.299,32.320,839.845,0.000,714.120,0.000,0.531,0.000
$DEVICE_MAMPS,253.877,74.399,695.669,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,219.123,176.093,555.748,155.434,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16040,310
$CAP_FILE_SIZE,40305,1
$CFSIZE,260165632,257929216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,150808,210829,4807.100,-12222.801,12,2.4,31,18.3